System and method for identifying and labeling cluster pixels in a frame of image data for optical navigation

ABSTRACT

A system and method for identifying and labeling cluster pixels in a frame of image data for optical navigation determines whether a current pixel of the frame of image data is a cluster pixel and uses neighboring pixels of the current pixel to label the current pixel as belonging to a new cluster or an existing cluster.

BACKGROUND OF THE INVENTION

In typical systems for optical navigation, frames of image data aresequentially captured and compared to track displacements of features inthe frames relative to the optical navigation system. These relativedisplacements of the features in the frames can be used to estimate themotion of the features relative to the optical navigation system or themotion of the optical navigation system relative to the features. Insome applications, these features may be beacons (e.g., infraredsources) that are captured and used as reference points for opticalnavigation. This type of optical navigation technique will be referredto herein as a beacon-based navigation technique. Beacon-basednavigation techniques are currently used in computer gaming systems totrack motion of remote control devices for the gaming systems.

In a beacon-based navigation technique, the imaged beacons or beaconclusters in the captured frames of image data are identified in order toestimate any displacement of the beacon clusters between the capturedframes. The beacon sources are usually stationary, and thus, serve asreference points to determine motion of the optical navigation system.In a conventional process for identifying beacon clusters in a capturedframe of image data, the entire image frame is transferred to a randomaccess memory (RAM) to search for the beacon clusters within thecaptured frame. That is, all pixel values of the frame of image data aretransferred to the RAM for processing so that each pixel value can beexamined to determine whether that pixel value belongs to a beaconcluster.

A concern with the above process for identifying beacon clusters in acaptured frame of image data is that the required size of the RAM isrelatively large, which adds significant cost to the optical navigationsystem. Furthermore, since the required size of the RAM must be at leastthe size of each captured frame of image data, a larger RAM is needed ifthe resolution of the captured frames is increased.

Thus, there is a need for a system and method for identifying features,such as beacon clusters, in captured frames of image data for opticalnavigation that reduces the required size of memory to process thepixels of the captured image frames.

SUMMARY OF THE INVENTION

A system and method for identifying and labeling cluster pixels in aframe of image data for optical navigation determines whether a currentpixel of the frame of image data is a cluster pixel and uses neighboringpixels of the current pixel to label the current pixel as belonging to anew cluster or an existing cluster. The process of labeling the currentpixel in accordance with embodiments of the invention saves memory,which translates into reduction in system cost.

A method for identifying and labeling cluster pixels in a frame of imagedata for optical navigation in accordance with an embodiment of theinvention comprises determining whether a current pixel of the frame ofimage data is a cluster pixel, determining whether any of neighboringpixels of the current pixel is labeled as belonging to at least oneexisting cluster, labeling the current pixel as belonging to a newcluster if none of the neighboring pixels of the current pixel islabeled as belonging to the at least one existing cluster, and labelingthe current pixel as belonging to a particular cluster of the at leastone existing cluster if at least one of the neighboring pixels of thecurrent pixel is labeled as belonging to the at least one existingcluster.

A system for optical navigation in accordance with an embodiment of theinvention comprises an image sensor and a navigation engine. The imagesensor is configured to capture a frame of image data. The navigationengine is operatively connected to the image sensor to identify andlabel cluster pixels in the frame of image data. The navigation engineis configured to determine whether a current pixel of the frame of imagedata is a cluster pixel. The navigation engine is further configured todetermine whether any of neighboring pixels of the current pixel islabeled as belonging to at least one existing cluster. The navigationengine is configured to label the current pixel as belonging to a newcluster if none of the neighboring pixels of the current pixel islabeled as belonging to the at least one existing cluster and to labelthe current pixel as belonging to a particular cluster of the at leastone existing cluster if at least one of the neighboring pixels of thecurrent pixel is labeled as belonging to the at least one existingcluster.

Other aspects and advantages of the present invention will becomeapparent from the following detailed description, taken in conjunctionwith the accompanying drawings, illustrated by way of example of theprinciples of the invention.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 shows an optical navigation system in accordance with anembodiment of the invention.

FIG. 2 is a block diagram of a controller unit included in the opticalnavigation system of FIG. 1.

FIG. 3 shows a 10×10 sensor array that includes a frame of image datawith three feature clusters as an example to illustrate an operation ofa navigation engine of the controller unit in accordance with anembodiment of the invention.

FIG. 4 is a process flow diagram of an operation of the navigationengine in accordance with an embodiment of the invention.

FIG. 5 shows the neighboring pixels of a current pixel, which areexamined and/or processed in order to label the current pixel asbelonging to a feature cluster in accordance with an embodiment of theinvention.

FIG. 6A shows contents of a label array as pixels of the frame of imagedata of FIG. 3 are processed in accordance with an embodiment of theinvention.

FIG. 6B shows parameter calculations for different clusters as thepixels of the frame of image data of FIG. 3 are processed in accordancewith an embodiment of the invention.

FIG. 7 is a process flow diagram of a method for identifying andlabeling cluster pixels in a frame of image data for optical navigationin accordance with an embodiment of the invention.

DETAILED DESCRIPTION

With reference to FIG. 1, an optical navigation system 100 in accordancewith an embodiment of the invention is described. In this embodiment,the optical navigation system 100 operates to navigate using imagedbeacons in captured frames of image data. That is, the opticalnavigation system 100 uses a beacon-based navigation technique foroptical navigation. Thus, in operation, the optical navigation system100 processes the captured frames of image data in order to identify andlabel pixels in the captured frames that belong to imaged beaconsources, which are sometimes referred to herein as beacon clusters orsimply clusters. As described in more detail below, the opticalnavigation system 100 processes pixels of a captured frame in anefficient manner, which requires a small amount memory.

As shown in FIG. 1, the optical navigation system 100 includes acontroller unit 102, a beacon unit 104, a display device 106 and aconsole unit 108. In some embodiments, the console unit 108 is coupledto the display device 106 using conventional wiring. Alternatively,other wired or wireless connections may be implemented. In someembodiments, the controller unit 102 and the console unit 108 are partof a gaming system. Alternatively, the optical navigation system 100 maybe used to implement other types of systems. For example, someembodiments of the optical navigation system 100 may be used to providean accessible user interface for a computer system.

The controller unit 102 is configured to calculate the relative positionof the controller unit with respect to the beacon unit 104. Thecontroller unit 102 is designed to perform the positional calculationusing the beacon unit 104 as a reference. The beacon unit 104 includesmultiple beacon light sources 110, which are used as reference points bythe controller unit 102 to calculate the relative position of thecontroller unit. In an embodiment, the beacon light sources 110 of thebeacon unit 104 are infrared (IR) or visible light sources, such aslight-emitting diodes (LEDs), laser diodes, etc. In the illustratedembodiment, the beacon unit 104 includes two beacon light sources 110.However, in other embodiments, the beacon unit 104 may include more thantwo beacon light sources. The controller unit 102 operates toelectronically capture the beacon light sources 110 of the beacon unit104 in frames of image data. The controller unit 102 then processes thecaptured frames of image data to identify and label the imaged beaconlight sources in the captured frames. Changes in the position of theimaged beacon light sources between the captured frames of image dataare used to output position data, which indicates the relative positionof the controller unit 102 within the coordinate system of the opticalnavigation system 100. The coordinate system of the optical navigationsystem 100 may be established during a calibration stage. The outputposition data may be x, y and z position values along the X, Y and Zaxes of the optical navigation system. Alternatively, the outputposition data may be Δx, Δy and Δz values along the X, Y and Z axes ofthe optical navigation system 100, which represent changes ordisplacements along the respective axes.

The position data of the controller unit 102 is transmitted to theconsole unit 108. The console unit 108 processes the position data foruse in a particular application. As an example, the console unit 108 maybe configured to manipulate a graphical element displayed on the displaydevice 106 according to the movements of the controller unit 102 as newposition data is received from the controller unit. The console unit 108may be a computer system, which runs one or more computer programs, suchas gaming programs. In this embodiment, the console unit 108 may includecomponents commonly found in a personal computer system.

Turning now to FIG. 2, a block diagram of the controller unit 102 inaccordance with an embodiment of the invention is shown. The illustratedcontroller unit 102 includes a digital processor 212, a memory device214, a power supply 216, a transceiver 218, an image sensor 220, anavigation engine 222, random access memory (RAM) 224, an optical lens226, an optical filter 227 and a crystal oscillator 228. In theillustrated embodiment, the navigation engine 222, the RAM 224 and theimage sensor 226 are part of an integrated circuit (IC) 230. However, inother embodiments, at least two of the image sensor 220, the navigationengine 222 and the RAM 224 may be implemented as separate components.The IC 230 is connected to the digital processor 212 via one or moresignal lines 232, which may include address, data and/or control signallines. Although the controller unit 102 is shown to include certaincomponents, the controller unit may include additional components. Forexample, some embodiments of the controller unit 102 include inputbuttons, joysticks or other selectors typically used for gamingcontrollers. Other embodiments of the controller unit 102 includefeedback signal generators to generate a tactile or auditory feedbacksignal to a user.

In some embodiments, the digital processor 212 may be a general-purposeprocessor such as a microprocessor or microcontroller. In otherembodiments, the digital processor 212 may be a special-purposeprocessor such as a digital signal processor. In other embodiments, thedigital processor 212 may be another type of controller or a fieldprogrammable gate array (FPGA). In general, the digital processor 212implements operations and functions of the controller unit 102.

The memory device 214 is configured to store data and/or instructionsfor use in the operation of the controller unit 102. In someembodiments, the memory device 214 stores instructions, which whenexecuted by the digital processor 212, cause the digital processor toperform certain operations. Similarly, some instructions may be storedin memory integrated into the digital processor 212. Additionally, thememory device 214 may store position data produced by the digitalprocessor 212 and/or the navigation engine 222.

In an embodiment, the power supply 216 provides direct current (DC)electrical signal, Vcc, to the digital processor 212, as well as othercomponents of the controller unit 102. Some embodiments of the powersupply 216 include one or more batteries. In some embodiments, the powersupply 216 receives power from the console unit 108 via a wire. In asimilar manner, the crystal oscillator 228 provides a clock signal, CLK,to one or more of the components of the controller unit 102.

The transceiver 218, which is coupled to the digital processor 212, isconfigured to transmit signals such as position data signals from thecontroller unit 102 to the console unit 108. The transceiver 218 is alsoconfigured to receive control signals, or feedback signals, from theconsole unit 108. Additionally, the transceiver may facilitate wired orwireless communications. For example, the transceiver 218 may sendelectrical signals via a hard-wired connection to the console unit 108.Alternatively, the transceiver 218 may send wireless signals, such asradio frequency (RF) signals, using known wireless data transmissionprotocols.

The image sensor 220, which is also coupled to the digital processor212, is configured to capture frames of image data. The image sensor 220includes an electronic imaging sensor array, such as a complimentarymetal-oxide-semiconductor (CMOS) image sensor array or a charge-coupleddevice (CCD) image sensor array. For example, the image sensor mayinclude a 30×30 pixel array to capture frames of image data with arelatively low resolution. However, other embodiments of the imagesensor 220 may include an increased pixel array size for higherresolution frames of image data. In the depicted embodiment, the imagesensor 220 is used in conjunction with the optical lens 226 and theoptical filter 227. The optical lens 226 is used to focus an image ontothe image sensor 220. The optical filter 227 is used to selectivelyfilter out undesired light and to selectively transmit the light fromthe beacon light sources 110 of the beacon unit 104 and so that thelight from the beacon light sources 110 can be imaged by the imagesensor 220. As an example, the optical filter 227 may be an IR or colorfilter. However, other embodiments may omit the optical lens 226 and/orthe optical filter 227, or implement multiple optical lenses and/oroptical filters.

In the illustrated embodiment, the navigation engine 222 is integratedwith the image sensor 220 and the RAM 224 on the IC 230. In otherembodiments, the navigation engine 222 may be partially or whollyintegrated with the digital processor 212. In general, the navigationengine 222 processes frames of image data captured by the image sensor220 to compute and output current position data with respect to thecontroller unit 102. During this process, the navigation engine 222performs an operation that includes identification and labeling offeature clusters in the captured frames of image data, e.g., clusters ofimaged beacon sources in the captured frames. As described in moredetail below, this operation involves the use of the RAM 224 in anefficient manner, which reduces the required size of the RAM. Once thefeature clusters in the captured frames are identified and labeled,these clusters are used to compute the position data.

The operation of the navigation engine 222 with respect toidentification and labeling of feature clusters is described withreference to a 10×10 sensor array 334 of FIG. 3, which may be includedin the image sensor 220, as an example and to a process flow diagram ofFIG. 4. In FIG. 3, the sensor array 334 includes captured data in eachof the pixels. In an embodiment, each data in a pixel of the sensorarray 334 is a luminance or intensity value captured in that pixel.Thus, in this example, the captured frame of image data is a 10×10 pixelimage frame. As shown in FIG. 3, the captured frame includes threefeature clusters 336, 338 and 340, which may represent imaged beaconsources. In an embodiment, a pixel of a frame of image data isconsidered to belong to a feature cluster if that pixel has a luminancevalue greater than a predefined threshold value. As explained in moredetail below, the navigation engine 222 first identifies a pixel asbelonging to a feature cluster and then labels that pixel into theproper feature cluster, assuming that there is more than one featurecluster. In addition, the navigation engine 222 performs parametercalculation of each feature cluster as the pixels of the image frame areprocessed.

As shown in FIG. 4, the operation of the navigation engine 222 begins atblock 402, where data from the next pixel of the sensor array 334 isread. The pixel from which the pixel data is read is the current pixelof the sensor array 334 being processed by the navigation engine 222.The pixel data includes at least the luminance value of the currentpixel. The pixel data is read from the sensor array 334 from left toright beginning from the top row down to the bottom row. Thus, the firstpixel data to be read is the data from the pixel (x1, y1) shown in FIG.3.

Next, at block 404, a determination is made whether the pixel luminancevalue of the current pixel is greater than a threshold value. The pixelswith the luminary value greater than the threshold value are considered“cluster pixels” or pixels that belong to one or more features clusters.If the pixel luminance value is not greater than the threshold value,then the operation proceeds to block 420. If the pixel luminance valueis greater than the threshold value, then the operation proceeds toblock 406.

At block 406, a determination is made whether the current pixel isconnected to an existing feature cluster. This determination is made byexamining label information associated with neighboring pixels about thecurrent pixel. The neighboring pixels about the current pixel are pixelsthat are immediately next to the current pixel. In some embodiments,only selected neighboring pixels of the current pixel are examined todetermine if the current pixel is connected to an existing featurecluster. In an embodiment, only the neighboring pixels that are abovethe current pixel and the neighboring pixel to the immediate right ofthe current pixels are examined. This is illustrated in FIG. 5, whichshows a current pixel and the neighboring pixels [1], [2], [3] and [4].In this embodiment, only the immediate left neighboring pixel [1], theupper left neighboring pixel [2], the immediate upper neighboring pixel[3] and the upper right neighboring pixel [4] are examined in order todetermine whether the current pixel is connected to an existing featurecluster. Consequently, the navigation engine 222 needs to store clusterinformation regarding the neighboring pixels [1], [2], [3] and [4] forthe current pixel. Thus, for each pixel being processed, clusterinformation for similarly positioned neighboring pixels with respect tothat pixel needs to be stored and accessed.

Turning back to FIG. 4, if it is determined at block 406 that thecurrent pixel is not connected to an existing feature cluster, theoperation proceeds to block 408, where the current pixel is labeled asbelonging to a new feature cluster. The operation then proceeds to block418. However, if it is determined at block 406 that the current pixel isconnected to an existing feature cluster, the operation proceeds toblock 410, where a determination is made whether the current pixel isconnected to more than one feature cluster. That is, a determination ismade whether two or more of the neighboring pixels belong to differentfeature clusters. If the current pixel is connected to more than onefeature cluster, then the different feature clusters of the neighboringpixels, as well as other selected previously processed pixels, arerelabeled as the same feature cluster, at block 412. That is, theneighboring pixels and other selected previously processed pixels thathave been labeled as belonging to the different feature clusters arerelabeled as belonging to the same feature cluster. In an embodiment,only the neighboring pixels that are above the current pixel and theneighboring pixel to the immediate left of the current pixel, and twonearby pixels that are to the right of the upper right neighboring pixelare relabeled, if appropriate. This is illustrated in FIG. 5, whichshows the current pixel, the neighboring pixels [1], [2], and [4], andthe nearby pixels [5] and [6]. In an embodiment, the different featureclusters are relabeled as the earliest existing feature cluster used tolabel the neighboring pixels. The operation then proceeds to block 414.

At block 414, the current pixel is labeled as belonging to the sameexisting feature cluster. If the current pixel is connected to only asingle existing feature cluster, then the current pixel is labeled asbelonging to that existing feature cluster. If the current pixel isconnected to more than one existing feature cluster, then the currentpixel is labeled as belonging to the relabeled feature cluster.

Next, at block 416, the existing feature cluster of the current pixel iscollapsed. Next, at block 418, parameter calculations are performed forthe feature cluster of the current pixel. In an embodiment, theparameter calculation includes total_x value, total_y value, pixel_countvalue, boundary_x1 value, boundary_y1 value, boundary_x2 value andboundary_y2 value. The total_x value is the sum of x coordinate valuesof the pixels that belong to the feature cluster. The total_y value isthe sum of y coordinate values of the pixels that belong to the featurecluster. The pixel_count value is the number of pixels that belong tothe feature cluster. The boundary_x1 value, boundary_y1 value,boundary_x2 value and boundary_y2 values are the rectangular boundaryvalues for the feature cluster, which include the smallest x and ycoordinate values, i.e., the boundary_x1 and boundary_y1 values, and thelargest x and y coordinate values, i.e., the boundary_x2 and boundary_y2values, of the pixels that belong to the feature cluster.

Next, at block 420, a determination is made whether the current pixel isthe last pixel in the sensor array 334. If the current pixel is not thelast pixel, then the operation proceeds back to block 402, where thenext pixel is read from the sensor array to be processed. If the currentpixel is the last pixel, then the operation proceeds to block 422, whereall the feature clusters are reported in order to perform navigation.

During the operation of the navigation engine, the RAM 224 is used tostore cluster-label information of the current pixel and some of thepreviously processed pixels. As used herein, cluster-label informationincludes any information that associates a pixel to one or more featureclusters. The use of the RAM 24 is described with respect to the 10×10sensor array 334 of FIG. 3 as an example. The RAM 224 is used to storethe cluster-label information of selected pixels of the sensor array 334in a label array. In an embodiment, the depth of the label array isequal to the width of the sensor array plus three (3). Thus, for the10×10 sensor array 334 of FIG. 3, the depth of the label array is ten(10) plus three (3), or thirteen (13). However, in other embodiments,the depth of the label array may be smaller or larger. FIG. 6A shows thecontents of the label array, which is stored in the RAM 224, as thepixels of the sensor array 334 are processed. In the illustratedembodiment, the label array includes label array elements [1]-[13]. InFIG. 6A, “n” refers to “new label number”, “r” refers to “relabel tocollapsed label number”, “c” refers to “combine label numbers” and “f”refers to “follow previous label number.” FIG. 6B shows parametercalculations for different feature clusters found in the sensor array334 as the pixels of the sensor array are processed. The parametercalculations may be stored in the RAM 224 or in another storage device,such as the memory device 214. In FIGS. 6A and 6B, only the results fromthe pixels of the first two rows of the sensor array 334 are shown forillustration. The remaining pixels of the sensor array 334 are processedin a similar manner.

Initially, the label array is set to contain all zeros and the parametercalculations are also set to zero, as shown in the column “y1 x1” inFIGS. 6A and 6B. As shown in FIG. 3, the pixels in the first two rows ofthe sensor array 334 that are identified as pixels belonging to afeature cluster or “cluster pixels” are the pixels with the followingcoordinates: (x3, y1), (x5, y1), (x6, y1), (x7, y1), (x10, y1), (x3 y2),(x4, y2), (x5, y2), (x6, y2), (x9, y2) and (x10, y2). As illustrated inFIG. 6A, the contents of the label array are shifted by one label arrayelement after each pixel is processed such that the content of a labelarray element [N] is transferred to the label array element [N−1] exceptfor the content of the label array element [1], which is transferred tothe label array element [13].

As illustrated in FIG. 6A, when the current or target pixel (x3, y1) isbeing processed, the pixel (x3, y1) is labeled as belonging to a newfeature cluster, since that pixel is not connected to any existingfeature cluster. As a result, the label array element [1] is set to anew label number of “1” to indicate that the target pixel (x3, y1)belongs to a feature cluster [1], as shown in column “y1 x4”. The pixels(x5, y1) and (x10, y1) are processed in a similar manner. When thetarget pixel (x6 y1) is being processed, the pixel (x6 y1) is labeled asbelonging to same previous feature cluster, since that pixel isconnected to only that feature cluster. As a result, the label arrayelement [1] is set to a same label number of “2” to indicate that thetarget pixel (x6, y1) belongs to a feature cluster [2], as shown incolumn “y1 x6”. The pixels (x7, y1), (x3, y2), (x5, y2), (x6, y2), (x9,y2) and (x10, y2) are processed in a similar manner. When the targetpixel (x4 y2) is being processed, the pixel (x4, y2) is labeled asbelonging to a combined label, since that pixel is connected to morethan one existing feature cluster. As a result, the label array element[1] is set to the combined label number of “1” to indicate that thetarget pixel (x4, y2) belongs to the feature cluster [1], as shown incolumn “y2 x5”. In addition, the label array elements [3], [4] and [5]are relabeled to the combined label number of “1” to indicate that thecluster pixels (x5, y1), (x6, y1) and (x7, y1) now belongs to thefeature cluster [1], as shown in column “y2 x5”. The remaining clusterpixels of the sensor array are processed in a similar manner.

When a cluster pixel is being processed, the parameter calculations arealso updated to include the target pixel in the feature cluster to whichthe target pixel has been labeled, as shown in FIG. 6B. As an example,when the target pixel (x3, y1) is being processed, the parametercalculations for the feature cluster [1] are updated using theinformation of all cluster pixels that belong to that feature cluster[1], which currently includes only the cluster pixel (x3, y1). Asanother example, when the target pixel (x4, y2) is being processed, theparameter calculations for the feature cluster [1] are updated using theinformation of all cluster pixels that now belong to that featurecluster [1], which currently includes the cluster pixels (x3, y1), (x5,y1), (x6, y1), (x7, y1), (x3, y2) and (x4, y2). Thus, as cluster pixelsare relabeled, the parameter calculations are performed using all thecluster pixels in a particular feature cluster, including cluster pixelsthat have been re-labeled. In this fashion, the parameter calculationsof the feature clusters are updated when a cluster pixel is processed.

A method for identifying and labeling cluster pixels in a frame of imagedata for optical navigation in accordance with an embodiment of theinvention is described with reference to a process flow diagram of FIG.7. At block 702, a determination is made whether a current pixel of theframe of image data is a cluster pixel. As used herein, a cluster pixelis a pixel that belongs to a feature cluster, such an imaged beaconcluster. If the current pixel is not a cluster pixel, then theprocessing for the current pixel is terminated. Next, at block 704, ifthe current pixel is a cluster pixel, a determination is made whetherany of the neighboring pixels of the current pixel is labeled asbelonging to at least one existing cluster. Next, at block 706, thecurrent pixel is labeled as belonging to a new cluster if none of theneighboring pixels of the current pixel is labeled as belonging to atleast one existing cluster. Alternatively, at block 708, the currentpixel is labeled as belonging to a particular cluster of the at leastone existing cluster if at least one of the neighboring pixels of thecurrent pixel is labeled as belonging to the at least one existingcluster.

Although specific embodiments of the invention have been described andillustrated, the invention is not to be limited to the specific forms orarrangements of parts so described and illustrated. The scope of theinvention is to be defined by the claims appended hereto and theirequivalents.

1. A method for operating an optical navigation system, the methodcomprising: capturing a frame of image data from a light source with asensor; a controller unit identifying a change in position of acontroller unit relative to the light source comprising identifying andlabeling cluster pixels in the frame of image data for opticalnavigation; the controller unit determining whether a current pixel ofthe frame of image data is a cluster pixel; the controller unitdetermining whether any of neighboring pixels of the current pixel islabeled as belonging to at least one existing cluster; labeling thecurrent pixel as belonging to a new cluster if none of the neighboringpixels of the current pixel is labeled as belonging to the at least oneexisting cluster; and the controller unit labeling the current pixel asbelonging to a particular cluster of the at least one existing clusterif at least one of the neighboring pixels of the current pixel islabeled as belonging to the at least one existing cluster.
 2. The methodof claim 1 wherein the labeling the current pixel as belonging to theparticular cluster includes labeling the current pixel as belonging tothe particular cluster if the at least one of the neighboring pixels ofthe current pixel is labeled as belonging to only the particularcluster.
 3. The method of claim 1 wherein the labeling the current pixelas belonging to the particular cluster includes labeling the currentpixel as belonging to the particular cluster if the at least one of theneighboring pixels of the current pixel is labeled as belonging tomultiple existing clusters, the particular cluster being the earliestcluster of the multiple existing clusters used to label the at least oneof the neighboring pixels.
 4. The method of claim 1 wherein thedetermining whether any of the neighboring pixels of the current pixelis labeled as belonging to the at least one existing cluster includesonly determining whether any of selected pixels of the neighboringpixels of the current pixel is labeled as belonging to the at least oneexisting cluster, the selected pixels including the upper leftneighboring pixel, the immediate upper neighboring pixel, the upperright neighboring pixel and the immediate left neighboring pixel.
 5. Themethod of claim 1 wherein the labeling the current pixel as belonging tothe new cluster or the particular cluster includes storing cluster-labelinformation for the current pixel in a label array.
 6. The method ofclaim 5 wherein the label array includes N label array elements, wherethe N is equal to or greater than the width of the frame of image data.7. The method of claim 6 wherein the N is equal to the width of theframe of image data plus three.
 8. The method of claim 1 furthercomprising performing parameter calculations for one of the new clusterand the particular cluster to which the current pixel has been labeledas belonging.
 9. The method of claim 8 wherein the parametercalculations include at least one of pixel count information andboundary information for the new cluster or the particular cluster towhich the current pixel has been labeled as belonging.
 10. The method ofclaim 1 wherein the determining whether the current pixel of the frameof image data is the cluster pixel includes comparing luminance value ofthe current pixel to a threshold value.
 11. An optical navigation systemcomprising: a beacon unit configured to emit light; a controller unitconfigured to process the relative position of the controller unit withrespect to the beacon unit, an image sensor coupled to the controllerunit and configured to capture a frame of image data of the emittedlight and a navigation engine operatively connected to the image sensorto identify and label cluster pixels in the frame of image data, thenavigation engine being configured to determine whether a current pixelof the frame of image data is a cluster pixel, the navigation enginebeing further configured to determine whether any of neighboring pixelsof the current pixel is labeled as belonging to at least one existingcluster, the navigation engine being configured to label the currentpixel as belonging to a new cluster if none of the neighboring pixels ofthe current pixel is labeled as belonging to the at least one existingcluster and to label the current pixel as belonging to a particularcluster of the at least one existing cluster if at least one of theneighboring pixels of the current pixel is labeled as belonging to theat least one existing cluster.
 12. The optical navigation system ofclaim 11 wherein the navigation engine is configured to label thecurrent pixel as belonging to the particular cluster if the at least oneof the neighboring pixels of the current pixel is labeled as belongingto only the particular cluster.
 13. The optical navigation system ofclaim 11 wherein the navigation engine is configured to label thecurrent pixel as belonging to the particular cluster if said at leastone of the neighboring pixels of the current pixel is labeled asbelonging to multiple existing clusters, the particular cluster beingthe earliest cluster of the multiple existing clusters used to label theat least one of the neighboring pixels.
 14. The optical navigationsystem of claim 11 wherein the navigation engine is configured to onlydetermine whether any of selected pixels of the neighboring pixels ofthe current pixel is labeled as belonging to the at least one existingcluster, the selected pixels including the upper left neighboring pixel,the immediate upper neighboring pixel, the upper right neighboring pixeland the immediate left neighboring pixel.
 15. The optical navigationsystem of claim 11 wherein the navigation engine is configured to storecluster-label information for the current pixel into a label array. 16.The optical navigation system of claim 15 further comprising a randomaccess memory operatively coupled to the navigation engine, the randomaccess memory being used to store the label array.
 17. The opticalnavigation system of claim 15 wherein the label array includes N labelarray elements, where the N is equal to or greater than the width of theframe of image data.
 18. The optical navigation system of claim 17wherein the N is equal to the width of the frame of image data plusthree.
 19. The optical navigation system of claim 11 wherein thenavigation engine is configured to perform parameter calculations forone of the new cluster and the particular cluster to which the currentpixel has been labeled as belonging.
 20. The optical navigation systemof claim 11 wherein the parameter calculations include at least one ofpixel count information and boundary information for the new cluster orthe particular cluster to which the current pixel has been labeled asbelonging.